The Queen and Prince Charles took part in the ancient Order of the Bath Service at Westminster Abbey. The Order of the Bath is comprised largely of people with distinguished military careers. The Order dates back to 1725 and uses Henry VII's Chapel in Westminster Abbey as its Chapel. The Queen is Sovereign Head of the Order of the Bath and Prince Charles is its Great Master.

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Prince Charles kisses his mother to bid farewell as she departs Westminster Abbey after attending Order of the Bath Service. Adrian Dennis/AFP

The Prince of Wales stood in for his mother during one part of the service. The 88-year-old monarch had been due to present gold and silver coins at the sovereign's stall within the Tudor chapel, but the role was instead filled by the prince.

A Buckingham Palace spokesman said that as the role involved climbing steep wooden steps in full regalia, a decision had been made to lessen the burden of the Queen during the ceremonial service.

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The Queen talks to John Hall, the Dean of Westminster Abbey, as she attends the Service of the Order of Bath. Chris Jackson/Getty Images
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The Queen arrives for a Service of the Order of the Bath at Westminster Abbey in London. Reuters
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Prince Charles arrives to attend the Service of the Order of Bath at Westminster Abbey. Chris Jackson/Getty Images
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The Prince of Wales, Great Master of the Order, makes his offering of gold and silver at the altar of the Lady Chapel of King Henry VII in Westminster Abbey. Yui Mok/PA/Getty
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Knights muster in the Abbey cloisters ahead of the arrival of Queen Elizabeth II. Adrian Dennis/AFP
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Sir Derek Oulton sits as Knights muster in the Abbey cloisters ahead of the arrival of Queen Elizabeth II. Adrian Dennis/AFP
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Her Majesty's Body Guard of the Honourable Corps of Gentlemen muster in the Abbey cloisters. Adrian Dennis/AFP
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The Queen's Body Guard of the Honourable Corps of Gentlemen wait in the cloisters at Westminster Abbey. Adrian Dennis/AFP
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Page of Honour Hugo Bertie carries Her Majesty's robes during the Order of the Bath Service in Westminster Abbey. Adrian Dennis/AFP
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Queen Elizabeth II